Multi-Robot Multi-Room Exploration with Geometric Cue Extraction and Circular Decomposition
- Publisher:
- Institute of Electrical and Electronics Engineers (IEEE)
- Publication Type:
- Journal Article
- Citation:
- IEEE Robotics and Automation Letters, 2023, 9, (2), pp. 1190-1197
- Issue Date:
- 2023-01-01
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| Filename | Description | Size | |||
|---|---|---|---|---|---|
| Multi-Robot_Multi-Room_Exploration_With_Geometric_Cue_Extraction_and_Circular_Decomposition.pdf | Accepted version | 2.23 MB |
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This work proposes an autonomous multi-robot exploration pipeline that coordinates the behaviors of robots in an indoor environment composed of multiple rooms. Contrary to simple frontier-based exploration approaches, we aim to enable robots to methodically explore and observe an unknown set of rooms in a structured building, keeping track of which rooms are already explored and sharing this information among robots to coordinate their behaviors in a distributed manner. To this end, we propose (1) a geometric cue extraction method that processes 3D point cloud data and detects the locations of potential cues such as doors and rooms, (2) a circular decomposition for free spaces used for target assignment. Using these two components, our pipeline effectively assigns tasks among robots, and enables a methodical exploration of rooms. We evaluate the performance of our pipeline using a team of up to 3 aerial robots, and show that our method outperforms the baseline by 33.4% in simulation and 26.4% in real-world experiments. https://youtu.be/zUtK1hh2Tpo
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